What's the recommended process for changing filaments? Here's what I'm currently doing, just wanting to make sure I'm not completely off base:

1. Heat Extruder to 200*C
2. Run "Extract Filament" Macro
3. Snip the filament just above where it enters the extruder, and pull the rest out with pliers
4. Take off the idler assembly and feed in new filament
5. Replace idler assembly
6. Run a manual feed of filament until I see solid of the new color.

At UltiBots, we typically heat the hotend (appropriate to the filament type), loosen the idler tension until just barely threaded, remove the filament, and hand feed new filament while pulling on the idler. Once filament starts to flow, we tighten the idler tension screws from approximately 12mm to 8mm.

Alternately and rarely we cut the filament flush with the top of the effector, extrude 5mm, then insert new filament and "follow feed" the new filament until it is past the drive gear teeth.